cartographer/cartographer_grpc/mapping/trajectory_builder_stub.cc

/*
 * Copyright 2017 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "cartographer_grpc/mapping/trajectory_builder_stub.h"

#include "cartographer/mapping/local_slam_result_data.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "cartographer_grpc/sensor/serialization.h"
#include "glog/logging.h"

namespace cartographer_grpc {
namespace mapping {

TrajectoryBuilderStub::TrajectoryBuilderStub(
    std::shared_ptr<grpc::Channel> client_channel, const int trajectory_id,
    LocalSlamResultCallback local_slam_result_callback)
    : client_channel_(client_channel),
      trajectory_id_(trajectory_id),
      receive_local_slam_results_client_(client_channel_) {
  if (local_slam_result_callback) {
    proto::ReceiveLocalSlamResultsRequest request;
    request.set_trajectory_id(trajectory_id);
    receive_local_slam_results_client_.Write(request);
    auto* receive_local_slam_results_client_ptr =
        &receive_local_slam_results_client_;
    receive_local_slam_results_thread_ =
        cartographer::common::make_unique<std::thread>(
            [receive_local_slam_results_client_ptr,
             local_slam_result_callback]() {
              RunLocalSlamResultsReader(receive_local_slam_results_client_ptr,
                                        local_slam_result_callback);
            });
  }
}

TrajectoryBuilderStub::~TrajectoryBuilderStub() {
  if (receive_local_slam_results_thread_) {
    receive_local_slam_results_thread_->join();
  }
  if (add_rangefinder_client_) {
    CHECK(add_rangefinder_client_->WritesDone());
    CHECK(add_rangefinder_client_->Finish().ok());
  }
  if (add_imu_client_) {
    CHECK(add_imu_client_->WritesDone());
    CHECK(add_imu_client_->Finish().ok());
  }
  if (add_odometry_client_) {
    CHECK(add_odometry_client_->WritesDone());
    CHECK(add_odometry_client_->Finish().ok());
  }
  if (add_landmark_client_) {
    CHECK(add_landmark_client_->WritesDone());
    CHECK(add_landmark_client_->Finish().ok());
  }
  if (add_fixed_frame_pose_client_) {
    CHECK(add_fixed_frame_pose_client_->WritesDone());
    CHECK(add_fixed_frame_pose_client_->Finish().ok());
  }
}

void TrajectoryBuilderStub::AddSensorData(
    const std::string& sensor_id,
    const cartographer::sensor::TimedPointCloudData& timed_point_cloud_data) {
  if (!add_rangefinder_client_) {
    add_rangefinder_client_ = cartographer::common::make_unique<
        framework::Client<handlers::AddRangefinderDataHandler>>(
        client_channel_);
  }
  proto::AddRangefinderDataRequest request;
  sensor::CreateAddRangeFinderDataRequest(
      sensor_id, trajectory_id_,
      cartographer::sensor::ToProto(timed_point_cloud_data), &request);
  add_rangefinder_client_->Write(request);
}

void TrajectoryBuilderStub::AddSensorData(
    const std::string& sensor_id,
    const cartographer::sensor::ImuData& imu_data) {
  if (!add_imu_client_) {
    add_imu_client_ = cartographer::common::make_unique<
        framework::Client<handlers::AddImuDataHandler>>(client_channel_);
  }
  proto::AddImuDataRequest request;
  sensor::CreateAddImuDataRequest(sensor_id, trajectory_id_,
                                  cartographer::sensor::ToProto(imu_data),
                                  &request);
  add_imu_client_->Write(request);
}

void TrajectoryBuilderStub::AddSensorData(
    const std::string& sensor_id,
    const cartographer::sensor::OdometryData& odometry_data) {
  if (!add_odometry_client_) {
    add_odometry_client_ = cartographer::common::make_unique<
        framework::Client<handlers::AddOdometryDataHandler>>(client_channel_);
  }
  proto::AddOdometryDataRequest request;
  sensor::CreateAddOdometryDataRequest(
      sensor_id, trajectory_id_, cartographer::sensor::ToProto(odometry_data),
      &request);
  add_odometry_client_->Write(request);
}

void TrajectoryBuilderStub::AddSensorData(
    const std::string& sensor_id,
    const cartographer::sensor::FixedFramePoseData& fixed_frame_pose) {
  if (!add_fixed_frame_pose_client_) {
    add_fixed_frame_pose_client_ = cartographer::common::make_unique<
        framework::Client<handlers::AddFixedFramePoseDataHandler>>(
        client_channel_);
  }
  proto::AddFixedFramePoseDataRequest request;
  sensor::CreateAddFixedFramePoseDataRequest(
      sensor_id, trajectory_id_,
      cartographer::sensor::ToProto(fixed_frame_pose), &request);
  add_fixed_frame_pose_client_->Write(request);
}

void TrajectoryBuilderStub::AddSensorData(
    const std::string& sensor_id,
    const cartographer::sensor::LandmarkData& landmark_data) {
  if (!add_landmark_client_) {
    add_landmark_client_ = cartographer::common::make_unique<
        framework::Client<handlers::AddLandmarkDataHandler>>(client_channel_);
  }
  proto::AddLandmarkDataRequest request;
  sensor::CreateAddLandmarkDataRequest(
      sensor_id, trajectory_id_, cartographer::sensor::ToProto(landmark_data),
      &request);
  add_landmark_client_->Write(request);
}

void TrajectoryBuilderStub::AddLocalSlamResultData(
    std::unique_ptr<cartographer::mapping::LocalSlamResultData>
        local_slam_result_data) {
  LOG(FATAL) << "Not implemented";
}

void TrajectoryBuilderStub::RunLocalSlamResultsReader(
    framework::Client<handlers::ReceiveLocalSlamResultsHandler>* client,
    LocalSlamResultCallback local_slam_result_callback) {
  proto::ReceiveLocalSlamResultsResponse response;
  while (client->Read(&response)) {
    int trajectory_id = response.trajectory_id();
    cartographer::common::Time time =
        cartographer::common::FromUniversal(response.timestamp());
    cartographer::transform::Rigid3d local_pose =
        cartographer::transform::ToRigid3(response.local_pose());
    cartographer::sensor::RangeData range_data =
        cartographer::sensor::FromProto(response.range_data());
    auto insertion_result =
        response.has_insertion_result()
            ? cartographer::common::make_unique<InsertionResult>(
                  InsertionResult{cartographer::mapping::NodeId{
                      response.insertion_result().node_id().trajectory_id(),
                      response.insertion_result().node_id().node_index()}})
            : nullptr;
    local_slam_result_callback(trajectory_id, time, local_pose, range_data,
                               std::move(insertion_result));
  }
  client->Finish();
}

}  // namespace mapping
}  // namespace cartographer_grpc